12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Matrix initialization bug fix

release/4.3a0
Chris Beall 2013-09-13 18:26:39 +00:00
parent 7413b50da1
commit 14e65ce607
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
gtsam_unstable/geometry/triangulation.cpp
View File

@ -31,7 +31,7 @@ namespace gtsam {
Point3 triangulateDLT(const vector<Matrix>& projection_matrices, Point3 triangulateDLT(const vector<Matrix>& projection_matrices,
const vector<Point2>& measurements, double rank_tol) { const vector<Point2>& measurements, double rank_tol) {
Matrix A = Matrix_(projection_matrices.size() *2, 4); Matrix A = zeros(projection_matrices.size() *2, 4);
for(size_t i=0; i< projection_matrices.size(); i++) { for(size_t i=0; i< projection_matrices.size(); i++) {
size_t row = i*2; size_t row = i*2;
@ -47,6 +47,7 @@ Point3 triangulateDLT(const vector<Matrix>& projection_matrices,
Vector v; Vector v;
boost::tie(rank, error, v) = DLT(A, rank_tol); boost::tie(rank, error, v) = DLT(A, rank_tol);
if(rank < 3) if(rank < 3)
throw(TriangulationUnderconstrainedException()); throw(TriangulationUnderconstrainedException());